Abstract : In this paper, a fault-tolerant control scheme for two physically linked two wheel drive (2WD) mobile robots with multiple and simultaneous actuator faults is proposed. The kinematic and dynamic models are first presented. A kinematic control law is designed, based on which, a dynamic control law is investigated. By applying the proposed dynamic control signal, the desired system stability and tracking properties are ensured. Simulation results are finally presented to verify the effectiveness of the developed fault-tolerant control scheme.
https://hal.inria.fr/hal-01660111
Contributor : Gang ZhengConnect in order to contact the contributor Submitted on : Sunday, December 10, 2017 - 12:14:20 AM Last modification on : Friday, December 11, 2020 - 6:44:06 PM
Yajie Ma, Vincent Cocquempot, Maan El Badaoui Ei Najjar, Andrey Polyakov, Gang Zheng. Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults. IFAC World Congress, Jul 2017, Toulouse, France. ⟨hal-01660111⟩